Clip applier tool for use with a robotic surgical system

ABSTRACT

A clip applier tool for use with a robotic surgical system is disclosed. The clip applier tool comprises a housing, a shaft, an end effector, a firing chamber, a replaceable clip magazine, an articulation joint, an articulation drive configured to articulate the end effector, a rotation drive configured to rotate the shaft, and a firing drive. The housing comprises an interface for attachment to the robotic surgical system. The interface comprises rotatable inputs. The end effector comprises a crimping chamber. The replaceable clip magazine comprises a storage chamber, clips removably positioned in the storage chamber, and a biasing member configured to sequentially bias the clips from the storage chamber into the firing chamber. The firing drive is configured to advance a clip positioned in the firing chamber into the crimping chamber. The articulation drive, the rotation drive, and the firing drive are each operably coupled to different rotatable inputs.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application claiming priority under35 U.S.C. § 120 to U.S. patent application Ser. No. 15/059,439, entitledEMPTY CLIP CARTRIDGE LOCKOUT, filed Mar. 3, 2016, now U.S. PatentApplication Publication No. 2016/0183943, which is a continuationapplication claiming priority under 35 U.S.C. § 120 to U.S. patentapplication Ser. No. 13/536,386, entitled EMPTY CLIP CARTRIDGE LOCKOUT,filed Jun. 28, 2012, which issued on Mar. 15, 2016 as U.S. Pat. No.9,282,974, the entire disclosures of which are hereby incorporated byreference herein.

BACKGROUND

A variety of fasteners can be utilized to treat, clamp, fasten, secure,and/or hold tissue. Clips can be positioned relative to tissue locatedwithin a surgical site in a patient and then deformed to apply aclamping force, for example, to the tissue.

BRIEF DESCRIPTION OF THE DRAWINGS

The features and advantages of this invention, and the manner ofattaining them, will become more apparent and the invention itself willbe better understood by reference to the following description ofexemplary embodiments of the invention taken in conjunction with theaccompanying drawings, wherein:

FIG. 1 is a partial perspective view of a clip applier;

FIG. 2 is a cross-sectional view of an end effector of the clip applierof FIG. 1 comprising a removable clip cartridge, a reciprocating firingdrive for sequentially advancing the clips, a receiver for receiving theclips, and a crimping drive for deforming the clips;

FIG. 3 is a partial cross-sectional view of the clip applier of FIG. 1in an open configuration;

FIG. 4 is a partial cross-sectional view of the clip applier of FIG. 1in a closed configuration;

FIG. 5 is a cross-sectional view of the end effector of FIG. 2 in anunfired condition;

FIG. 6 is a cross-sectional view of the end effector of FIG. 2illustrating the firing drive in a partially fired condition in which afiring member of the firing drive has advanced a clip into the receiver;

FIG. 7 is a cross-sectional view of the end effector of FIG. 2illustrating the firing drive coming into engagement with the crimpingdrive;

FIG. 8 is a cross-sectional view of the end effector of FIG. 2illustrating the crimping drive in an at least partially firedcondition;

FIG. 9 is a cross-sectional view of the end effector of FIG. 2illustrating the firing drive becoming disengaged from the firingmember;

FIG. 10 is a cross-sectional view of the end effector of FIG. 2illustrating the crimping drive in its fully fired condition;

FIG. 11 is a cross-sectional view of the firing drive of the endeffector of FIG. 2 in a partially retracted position in which the firingdrive is being re-engaged with the firing member;

FIG. 12 is a cross-sectional view of the firing drive of the endeffector of FIG. 2 being disengaged from the crimping drive;

FIG. 13 is a perspective view of a clip illustrated in FIGS. 2-12;

FIG. 14 is a front view of a cartridge illustrated in FIGS. 1-12comprising a plurality of clips with portions of the cartridge removedto illustrate the clips stored in the cartridge;

FIG. 15 is a side view of the cartridge of FIG. 14 illustrated withportions removed to illustrate the clips stored in the cartridge;

FIG. 16 is a cross-sectional plan view of the cartridge of FIG. 14 takenalong line 16-16 in FIG. 15;

FIG. 17 is a side view of an alternative cartridge usable in connectionwith the clip applier of FIGS. 1-12 or any other suitable clip applier,wherein the cartridge is illustrated with portions removed to illustratea biasing member and a pusher plate positioned intermediate the biasingmember and the clips contained therein;

FIG. 18 is a side view of a cartridge in accordance with at least onealternative embodiment illustrated with portions removed to illustrate abiasing member and a lockout plate positioned intermediate the biasingmember and the clips contained therein;

FIG. 19 is a cross-sectional plan view of the cartridge of FIG. 18 takenalong line 19-19 in FIG. 18;

FIG. 20 is a side view of a further alternative cartridge usable inconnection with the clip applier of FIGS. 1-12 or any other suitableclip applier, wherein the cartridge can comprise a housing illustratedwith portions removed to illustrate a lockout plate comprising guideswhich are configured to co-operate with guides defined in the cartridgehousing;

FIG. 21 is a cross-sectional plan view of the cartridge of FIG. 20 takenalong line 21-21 in FIG. 20;

FIG. 22 is an elevational view of a firing drive comprising a rotaryinput, a rotary output, a firing nut engaged with the rotary output, anda transmission in a firing configuration in accordance with at least oneembodiment;

FIG. 23 is a perspective view of the firing drive of FIG. 22illustrating the firing nut in an unfired position;

FIG. 24 is a perspective view of the firing drive of FIG. 22illustrating the firing nut advanced along the rotary output and a camextending from the firing nut;

FIG. 25 is a perspective view of the firing drive of FIG. 22illustrating the cam of the firing nut engaged with the transmission ofthe firing drive and the transmission in a reverse configuration;

FIG. 26 is a perspective view of the firing drive of FIG. 22illustrating firing nut in a retracted position and a second camextending from the firing nut engaged with the transmission to shift thetransmission from its reverse configuration to its firing configuration;

FIG. 27 is a perspective view of a robotic surgical instrument systemoperably supporting a plurality of surgical tools usable with the clipapplier of FIGS. 2-12 or any other suitable clip applier;

FIG. 28 is a perspective view of a surgical tool including an actuatormodule, a shaft extending from the actuator module, and a replaceableend effector;

FIG. 29 is a perspective view of a handle actuator usable with the clipapplier of FIGS. 2-12 or any other suitable clip applier;

FIG. 30 is a cross-sectional view of the articulation joint illustratedin FIG. 2;

FIG. 31 is a rear perspective view of an alternative actuator modulethat may be used in place of the actuator module of FIG. 28 with atleast a portion of its housing removed;

FIG. 32 is an exploded view of a portion of the actuator module of FIG.31;

FIG. 33 is a partial sectional view of the actuator module of FIG. 31;and

FIG. 34 is a cross-sectional view of an articulation actuator of theactuator module of FIG. 31.

DETAILED DESCRIPTION

Applicant of the present application also owns the following patentapplications that have been filed on Jun. 28, 2012 and which are eachherein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/536,271, entitled FLEXIBLE DRIVEMEMBER, now U.S. Pat. No. 9,204,879.

U.S. patent application Ser. No. 13/536,288, entitled MULTI-FUNCTIONALPOWERED SURGICAL DEVICE WITH EXTERNAL DISSECTION FEATURES, now U.S.Patent Application Publication No. 2014/0005718.

U.S. patent application Ser. No. 13/536,277, entitled COUPLINGARRANGEMENTS FOR ATTACHING SURGICAL END EFFECTORS TO DRIVE SYSTEMSTHEREFOR, now U.S. Patent Application Publication No. 2014/0001234.

U.S. patent application Ser. No. 13/536,295, entitled ROTARY ACTUATABLECLOSURE ARRANGEMENT FOR SURGICAL END EFFECTOR, now U.S. Pat. No.9,119,657.

U.S. patent application Ser. No. 13/536,326, entitled SURGICAL ENDEFFECTORS HAVING ANGLED TISSUE-CONTACTING SURFACES, now U.S. Pat. No.9,289,256.

U.S. patent application Ser. No. 13/536,303, entitled INTERCHANGEABLEEND EFFECTOR COUPLING ARRANGEMENT, now U.S. Pat. No. 9,028,494.

U.S. patent application Ser. No. 13/536,393, entitled SURGICAL ENDEFFECTOR JAW AND ELECTRODE CONFIGURATIONS, now U.S. Patent ApplicationPublication No. 2014/0005640.

U.S. patent application Ser. No. 13/536,362, entitled MULTI-AXISARTICULATING AND ROTATING SURGICAL TOOLS, now U.S. Pat. No. 9,125,662.

U.S. patent application Ser. No. 13/536,284, entitled DIFFERENTIALLOCKING ARRANGEMENTS FOR ROTARY POWERED SURGICAL INSTRUMENTS, now U.S.Pat. No. 9,072,536.

U.S. patent application Ser. No. 13/536,374, entitled INTERCHANGEABLECLIP APPLIER, now U.S. Pat. No. 9,561,038.

U.S. patent application Ser. No. 13/536,292, entitled FIRING SYSTEMLOCKOUT ARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. PatentApplication Publication No. 2014/0001231.

U.S. patent application Ser. No. 13/536,301, entitled ROTARY DRIVE SHAFTASSEMBLIES FOR SURGICAL INSTRUMENTS WITH ARTICULATABLE END EFFECTORS,now U.S. Pat. No. 8,747,238.

U.S. patent application Ser. No. 13/536,313, entitled ROTARY DRIVEARRANGEMENTS FOR SURGICAL INSTRUMENTS, now U.S. Patent ApplicationPublication No. 2014/0005678.

U.S. patent application Ser. No. 13/536,323, entitled ROBOTICALLYPOWERED SURGICAL DEVICE WITH MANUALLY-ACTUATABLE REVERSING SYSTEM, nowU.S. Pat. No. 9,408,606.

U.S. patent application Ser. No. 13/536,379, entitled REPLACEABLE CLIPCARTRIDGE FOR A CLIP APPLIER, now U.S. Pat. No. 9,649,111.

U.S. patent application Ser. No. 13/536,360, entitled SURGICALINSTRUMENT SYSTEM INCLUDING REPLACEABLE END EFFECTORS, now U.S. Pat. No.9,226,751.

U.S. patent application Ser. No. 13/536,335, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTARY JOINT ASSEMBLIES, now U.S. Pat. No. 9,364,230.

U.S. patent application Ser. No. 13/536,417, entitled ELECTRODECONNECTIONS FOR ROTARY DRIVEN SURGICAL TOOLS, now U.S. Pat. No.9,101,385.

Applicant also owns the following patent applications that are eachincorporated by reference in their respective entireties:

U.S. patent application Ser. No. 13/118,259, entitled SURGICALINSTRUMENT WITH WIRELESS COMMUNICATION BETWEEN A CONTROL UNIT OF AROBOTIC SYSTEM AND REMOTE SENSOR, now U.S. Pat. No. 8,684,253;

U.S. patent application Ser. No. 13/118,210, entitledROBOTICALLY-CONTROLLED DISPOSABLE MOTOR DRIVEN LOADING UNIT, now U.S.Pat. No. 8,752,749;

U.S. patent application Ser. No. 13/118,194, entitledROBOTICALLY-CONTROLLED ENDOSCOPIC ACCESSORY CHANNEL, now U.S. Pat. No.8,992,422;

U.S. patent application Ser. No. 13/118,253, entitledROBOTICALLY-CONTROLLED MOTORIZED SURGICAL INSTRUMENT, now U.S. Pat. No.9,386,983;

U.S. patent application Ser. No. 13/118,278, entitledROBOTICALLY-CONTROLLED SURGICAL STAPLING DEVICES THAT PRODUCE FORMEDSTAPLES HAVING DIFFERENT LENGTHS, now U.S. Pat. No. 9,237,891;

U.S. patent application Ser. No. 13/118,190, entitledROBOTICALLY-CONTROLLED MOTORIZED CUTTING AND FASTENING INSTRUMENT, nowU.S. Pat. No. 9,179,912;

U.S. patent application Ser. No. 13/118,223, entitledROBOTICALLY-CONTROLLED SHAFT BASED ROTARY DRIVE SYSTEMS FOR SURGICALINSTRUMENTS, now U.S. Pat. No. 8,931,682;

U.S. patent application Ser. No. 13/118,263, entitledROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT HAVING RECORDINGCAPABILITIES, now U.S. Patent Application Publication No. 2011/0295295;

U.S. patent application Ser. No. 13/118,272, entitledROBOTICALLY-CONTROLLED SURGICAL INSTRUMENT WITH FORCE FEEDBACKCAPABILITIES, now U.S. Patent Application Publication No. 2011/0290856;

U.S. patent application Ser. No. 13/118,246, entitled ROBOTICALLY-DRIVENSURGICAL INSTRUMENT WITH E-BEAM DRIVER, now U.S. Pat. No. 9,060,770; and

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat.No. 9,072,535.

Certain exemplary embodiments will now be described to provide anoverall understanding of the principles of the structure, function,manufacture, and use of the devices and methods disclosed herein. One ormore examples of these exemplary embodiments are illustrated in theaccompanying drawings. Those of ordinary skill in the art willunderstand that the devices and methods specifically described hereinand illustrated in the accompanying drawings are non-limiting exemplaryembodiments and that the scope of the various exemplary embodiments ofthe present invention is defined solely by the claims. The featuresillustrated or described in connection with one exemplary embodiment maybe combined with the features of other exemplary embodiments. Suchmodifications and variations are intended to be included within thescope of the present invention.

Uses of the phrases “in various exemplary embodiments,” “in someexemplary embodiments,” “in one embodiment”, or “in an embodiment”, orthe like, throughout the specification are not necessarily all referringto the same embodiment. Furthermore, the particular features,structures, or characteristics of one or more exemplary embodiments maybe combined in any suitable manner in one or more other exemplaryembodiments. Such modifications and variations are intended to beincluded within the scope of the present invention.

During various surgical procedures, a surgeon, or other clinician, mayapply a clip to a patient's tissue in order to achieve various effectsand/or therapeutic results. Referring to FIG. 1, a surgical instrument,such as a clip applier 100, for example, can be configured to apply oneor more clips to tissue located within a surgical site in the patient.Generally, referring now to FIG. 13, the clip applier 100 can bestructured and arranged to position a clip 140 relative to the tissue inorder to compress the tissue within the clip 140. The clip applier 100can be configured to deform the clip 140 as illustrated in FIGS. 3 and4, for example, and as described in greater detail further below. Eachclip 140 can comprise a base 142 and opposing legs 144 extending fromthe base 142. The base 142 and the legs 144 can comprise any suitableshape and can define a substantially U-shaped configuration and/or asubstantially V-shaped configuration, for example. The base 142 cancomprise angled portions 141 which are connected together by a joint143. In use, the legs 144 of the clip 140 can be positioned on oppositesides of the tissue wherein the legs 144 can be pushed toward oneanother to compress the tissue positioned between the legs 144. Thejoint 143 can be configured to permit the angled portions 141 of thebase 142, and the legs 144 extending therefrom, to deform inwardly. Invarious circumstances, the clip 140 can be configured to yield, ordeform plastically, when the clip 140 is sufficiently compressed,although some amount of elastic deformation, or spring-back, may occurwithin the deformed clip 140.

Referring now to FIGS. 1 and 2, the clip applier 100 can include a shaft110, an end effector 120, and a replaceable clip cartridge, or magazine,130. Referring to FIGS. 14-16, the clip cartridge 130 can comprise ahousing 132 and a plurality of clips 140 positioned within the housing132. The housing 132 can define a storage chamber 134 in which the clips140 can be stacked. The storage chamber 134 can comprise sidewalls whichextend around, or at least substantially around, the perimeter of theclips 140. Referring again to FIG. 13, each clip 140 can compriseopposing faces, such as a top face 145 and a bottom face 146 on oppositesides of the clip 140 wherein, when the clips 140 are stacked in thehousing 132, the top face 145 of a clip 140 can be positioned againstthe bottom face 146 of an adjacent clip 140 and wherein the bottom face146 of the clip 140 can be positioned against the top face 145 ofanother adjacent clip 140. In various circumstances, the bottom faces146 of the clips 140 can face downwardly toward one or more supportshelves, or platforms, 135 defined in the housing 132 while the topfaces 145 of the clips 140 can face upwardly away from the supportshelves 135. The top faces 145 and the bottom faces 146 of the clips 140may be identical, or at least substantially identical, in some cases,while, in other cases, the top faces 145 and the bottom faces 146 may bedifferent. The stack of clips 140 depicted in FIGS. 14-16 comprises fiveclips 140, for example; however, other embodiments are envisioned inwhich the stack of clips 140 can include more than five clips 140 orless than five clips 140. In any event, the clip cartridge 130 canfurther comprise at least one biasing member, such as biasing member136, for example, positioned intermediate the housing 132 and the topclip 140 in the stack of clips 140. As described in greater detailbelow, the biasing member 136 can be configured to bias the bottom clip140 in the stack of clips 140 or, more particularly, the bottom face 146of the bottom clip 140, against the support shelves 135 defined in thehousing 132. The biasing member 136 can comprise a spring, and/or anysuitable compressed elastic element, for example, which can beconfigured to apply a biasing force to the clips 140, or at least applya biasing force to the top clip 140 which is transmitted downwardlythrough the stack of clips 140.

When a clip 140 is positioned against the support shelves 135 asdescribed above, the clip 140 can be supported in a firing position inwhich the clip 140 can be advanced and ejected from the cartridge 130.In various circumstances, the support shelves 135 can define at least aportion of a firing chamber 149 in which the clips 140 can besequentially positioned in the firing position. In some cases, thefiring chamber 149 can be entirely defined within the cartridge 130 or,in other cases, the firing chamber 149 can be defined within and/orbetween the shaft 110 and the cartridge 130. In any event, as describedin greater detail further below, the clip applier 100 can comprise afiring drive which can advance a firing member into the cartridge 130and push the clip 140 from its firing position positioned against thesupport shelves 135 to a fired position in which it is received withinthe end effector 120 of the clip applier 100. Referring primarily toFIGS. 14-16, the housing 132 of the cartridge 130 can comprise aproximal opening, or window, 133 which can be aligned, or at leastsubstantially aligned, with the support shelves 135 such that the firingmember can enter into the cartridge 130 through the proximal opening 133and advance a clip 140 distally out of the cartridge 130. In at leastone such embodiment, the housing 132 can further comprise a distal, ordischarge, opening, or window, 137 which is also aligned with thesupport shelves 135 such that the clip 140 can be advanced, or fired,distally along a firing axis 139 extending through the proximal opening133, the firing chamber 149, and the distal opening 137, for example.

In order to advance a clip 140 out of the cartridge 130, further to theabove, the firing member of the firing drive can be advanced into to thecartridge housing 132 and, in various circumstances, into the firingchamber 149. As disclosed in greater detail further below, the firingmember can pass entirely through the cartridge 130 in order to advancethe clip 140 into its fired position within the end effector 120. Afterthe clip 140 positioned in the firing chamber 149 has been advanceddistally by the firing member, as outlined above, the firing member canbe retracted sufficiently such that the biasing member 136 can positionanother clip 140 against the support shelves 135. In variouscircumstances, the biasing member 136 can bias a clip 140 against thefiring member while the firing member is positioned within the housing132. Such a clip 140 can be referred to as a queued clip. After thefiring member has been sufficiently retracted and slid out fromunderneath the queued clip 140, the biasing member 136 can then bias theclip 140 against the support shelves 135 where it is staged for the nextstroke of the reciprocating firing member. Referring primarily to FIGS.2 and 14-16, the cartridge 130 can be configured to supply the clips 140to the firing chamber 149 along a predetermined path, such as supplyaxis 138, for example. The supply axis 138 can be transverse to thefiring axis 139 such that the clips 140 are fed into the firing chamber149 in a direction which is different than the direction in which thefiring member passes through the firing chamber 149. In at least onesuch embodiment, the supply axis 138 can be perpendicular, or at leastsubstantially perpendicular, to the firing axis 139, for example.

Referring again to FIG. 2, the shaft 110 can comprise a cartridge, ormagazine, aperture 131 which can be sized and configured to receive aclip cartridge 130, for example, therein. The cartridge aperture 131 canbe sized and configured such that the housing 132 of the cartridge 130is closely received within the cartridge aperture 131. The sidewallswhich define the cartridge aperture 131 can limit, or at leastsubstantially limit, the lateral movement of the cartridge 130 relativeto the shaft 110. The shaft 110 and/or the cartridge 130 can furthercomprise one or more locks which can be configured to releasably holdthe cartridge 130 in the cartridge aperture 131. As illustrated in FIG.2, the cartridge 130 can be loaded into the cartridge aperture 131 alongan axis which is, in at least one embodiment, parallel to or collinearwith the supply axis 138. As also illustrated in FIG. 2, the shaft 110can further comprise a pad or seat 118 extending from the sidewall 111of the shaft 110 wherein the pad 118 can be configured to be receivedwithin and/or engaged with the housing 132 of the cartridge 130. The pad118 can be sized and configured to be closely received within a recess148 defined in the cartridge housing such that the pad 118 can limit, orat least substantially limit, the lateral movement of the cartridge 130relative to the shaft 110. The pad 118 can be sized and configured toalign the cartridge 130 within the shaft 110 and/or support thecartridge housing 132.

Once the clip cartridge 130 has been positioned and seated within theshaft aperture 131, referring now to FIGS. 5 and 6, a firing drive 160of the clip applier 100 can be actuated to advance the clips 140 fromthe clip cartridge 130 as described above. The firing drive 160 cancomprise a rotary drive input such as a drive screw 161, for example,and a displaceable firing nut 163 operably engaged with the drive screw161. The drive screw 161 can comprise at least one drive thread 162which can be threadably engaged with a threaded aperture extendingthrough the firing nut 163. In various embodiments, the clip applier 100can further include an electric motor, for example, operably coupledwith the drive screw 161. In various instances, the drive screw 161 canbe operably coupled with the motor of a surgical instrument systemcomprising a hand-held instrument or a robotic arm, for example. In anyevent, the movement of the firing nut 163 within the shaft 110 can beconstrained such that the firing nut 163 moves along a longitudinal axis164 when the drive screw 161 is rotated about the longitudinal axis 164by the motor. For instance, when the drive screw 161 is rotated in afirst direction by the motor, the drive screw 161 can advance the firingnut 163 distally toward the end effector 120, as illustrated in FIG. 6.When the drive screw 161 is rotated in a direction opposite the firstdirection by the motor, the drive screw 161 can retract the firing nut163 proximally away from the end effector 120. The shaft 110 cancomprise one or more bearings which can be configured to rotatablysupport the drive screw 161. For instance, a bearing 159 can beconfigured to rotatably support the distal end of the drive screw 161,for example, as illustrated in FIGS. 5 and 6.

The firing drive 160 can further comprise a firing member 165 extendingfrom the firing nut 163 which can be advanced distally and retractedproximally with the firing nut 163, as described in greater detailfurther below. Upon comparing FIGS. 5 and 6, the reader will note thatthe firing nut 163 and the firing member 165 have been advanced from aproximal, unfired position, illustrated in FIG. 5, to a distal, firedposition, illustrated in FIG. 6, in which the firing member 165 hasadvanced a clip 140 from the clip cartridge 130 into the end effector120. Referring primarily to FIG. 5, the clip cartridge 130 isillustrated as comprising a plurality of clips 140 stored thereinwherein one of the clips 140 is positioned in a firing position, asdescribed above. As illustrated in FIGS. 5 and 6, the firing member 165can include a distal portion 166 which can be advanced into the staplecartridge 130 along a firing axis 167 and engage the clip 140 positionedin the firing position when the firing member 165 and the firing nut 163are advanced distally. In some cases, the firing member 165 can comprisea linear member while, in other cases, the distal end 166 of the firingmember 165 can extend upwardly from the firing member 165, for example.Further to the above, the firing member 165 can advance the clip 140distally out of the clip cartridge 130 along the firing axis 167 andinto a receiving cavity 122 defined in the end effector 120.

In various cases, the firing member 165 can be attached to and extenddistally from the firing nut 163 while, in other cases, the firingmember 165 and the firing nut 163 can be operably connected to oneanother by a firing actuator 168. The firing actuator 168 can bepivotably mounted to the firing member 165 at a pivot 169 and caninclude a distal arm 170 a and a proximal arm 170 b which can be engagedwith a longitudinal slot 113 defined in the housing 112 of the shaft110. In at least one such embodiment, each of the arms 170 a, 170 b caninclude a projection, such as projections 171 a and 171 b, respectively,extending therefrom which can be configured to slide within thelongitudinal slot 113. Further to the above, the firing nut 163 canfurther include a firing pin 172 extending therefrom which can beconfigured to engage the distal arm 170 a in order to advance theactuator 168 and the firing member 165 distally, as described above. Inuse, referring again to the progression illustrated in FIGS. 5 and 6,the firing nut 163 can be advanced distally by the drive screw 161wherein the firing pin 172, which is positioned intermediate the distalarm 170 a and the proximal arm 170 b, can contact the distal arm 170 aand drive the actuator 168 and the firing member 165 distally. As theactuator 168 is advanced distally, the actuator 168 may be preventedfrom rotating about the pivot pin 169 as one or both of the projections171 a and 171 b sliding in the shaft slot 113 can be prevented frombeing moved laterally relative to the longitudinal shaft slot 113 untilthe actuator 168 reaches the position illustrated in FIG. 6.

When the actuator 168 has reached the position illustrated in FIG. 6,the distal projection 171 a can enter into a distal slot portion 114 ofthe longitudinal slot 113 which can be configured to pivot the actuator168 downwardly, or permit the actuator 168 to be pivoted downwardly, asillustrated in FIG. 9. In at least one such embodiment, the distalprojection 171 a can come into contact with the sidewall of the distalslot portion 114 which can guide the distal projection 171 a downwardlyand pivot the actuator 168 about the pivot 169 as the actuator 168 isadvanced forward by the firing nut 163. In such a pivoted position, thefiring pin 172 extending from the firing nut 163 may no longer beengaged with the distal arm 170 a of the actuator 168 wherein,subsequently, the firing nut 163 may move distally independently of theactuator 168 thereby leaving behind the actuator 168 and the firingmember 165. Stated another way, the distal end 114 of the longitudinalshaft slot 113 may deactivate the firing member 165 wherein, at suchpoint, the position of the firing member 165 may represent thefully-fired or distal-most position of the firing member 165. In such aposition, the clip 140 has been fully advanced into the receivingcavity, or receiver, 122. Furthermore, in such a position, the next clip140 to be advanced into the receiving cavity 122 may be biased againstthe top surface of the firing member 165, further to the above.

Once a clip 140 has been positioned within the receiving cavity 122,further to the above, the clip 140 can be deformed by a crimping drive180, for example. Referring now to FIGS. 3 and 4, the end effector 120of the clip applier 100 can further comprise a first jaw 123 a and asecond jaw 123 b wherein the first jaw 123 a and the second jaw 123 bcan at least partially define the receiving chamber 122. As illustratedin FIGS. 3 and 4, the first jaw 123 a can comprise a first channel 124 aand the second jaw 123 b can comprise a second channel 124 b which caneach be configured to receive and support at least a portion of a clip140 therein. The first jaw 123 a can be pivotably coupled to a frame 111of the shaft 110 by a pin 125 a and the second jaw 123 b can bepivotably coupled to the frame 111 by a pin 125 b. In use, the crimpingdrive 180 can be configured to rotate the first jaw 123 a toward thesecond jaw 123 b and/or rotate the second jaw 123 b toward the first jaw123 a in order to compress the clip 140 positioned therebetween. In atleast one such embodiment, the crimping drive 180 can comprise a camactuator 181 which can be configured to engage a first cam surface 126 adefined on the first jaw 123 a and a second cam surface 126 b on thesecond jaw 123 b in order to pivot the first jaw 123 a and the secondjaw 123 b toward one another. The cam actuator 181 can comprise a collarwhich at least partially surrounds the first jaw 123 a and the secondjaw 123 b. In at least one such embodiment, the collar can comprise aninner cam surface 182 which can be contoured to contact the cam surfaces126 a, 126 b of the jaws 123 a, 123 b and drive them inwardly toward oneanother. In various circumstances, the clip 140 positioned within thereceiving chamber 122 defined in the end effector 120 can be positionedrelative to tissue before the crimping drive 180 is actuated. In somecircumstances, the crimping drive 180 can be at least partially actuatedprior to positioning the clip 140 relative to the tissue in order to atleast partially compress the clip 140. In certain instances, the clip140 and the receiving chamber 122 can be sized and configured such thatthe clip 140 can be biased or flexed inwardly when the end effector 120is in its unactuated state, as illustrated in FIG. 3. In variousinstances, the crimping first jaw 123 a and the second jaw 123 b can beactuated to elastically crimp and/or permanently crimp the clip 140positioned therebetween.

Further to the above, the firing nut 163 can be configured to actuatethe crimping drive 180. More particularly, referring now to FIG. 7, thecrimping drive 180 can comprise a crimping actuator 188 operably coupledwith the cam actuator 181 wherein the crimping actuator 188 can beselectively engaged by the firing nut 163 as the firing nut 163 isadvanced distally as described above. In at least one such embodiment,the firing nut 163 can further comprise a second firing pin, such asfiring pin 184, for example, extending therefrom which can be configuredto engage the crimping actuator 188 as the firing nut 163 is advancingthe firing actuator 168. Referring again to FIG. 7, the crimpingactuator 188 is positioned in an unactuated position and, when thefiring nut 163 is advanced sufficiently to engage a distal arm 190 a ofthe crimping actuator 188, the firing nut 163 can rotate the crimpingactuator 188 upwardly into an actuated position as illustrated in FIG.8. As also illustrated in FIG. 8, the distal arm 190 a and a proximalarm 190 b can each comprise a projection, such as projections 191 a and191 b, respectively, extending therefrom which can be positioned withina second longitudinal slot defined in shaft 110, such as slot 115, forexample. As the crimping actuator 188 is rotated upwardly from itsunactuated position about a pivot 189, the projections 191 a and 191 bcan move from the proximal curved end 116 of the longitudinal slot 115into a portion of the longitudinal slot 115 which is substantiallylinear. Similar to the above, the sidewalls of the longitudinal slot 115can be configured to confine the movement of the crimping actuator 188along a longitudinal path and can be configured to limit or prevent therotation of the crimping actuator 188 once the crimping actuator 188 hasbeen rotated upwardly into an at least partially actuated position, asdiscussed above. As the reader will understand, the firing pin 172 ofthe firing drive 160 and the firing pin 184 of the crimping drive 180both extend from the firing nut 163. For the sake of expediency anddemonstration, the firing pins 172 and 184 are illustrated as extendingfrom the same side of the firing nut 163; however, it is envisioned thatthe firing pin 172 can extend from a first lateral side of the firingnut 163 while the firing pin 184 can extend from the other lateral sideof the firing nut 163. In such circumstances, the firing actuator 168can be positioned alongside the first lateral side of the drive screw161 and the crimping actuator 188 can be positioned alongside theopposite lateral side of the drive screw 161. Correspondingly, thelongitudinal slot 113 can be defined in a first lateral side of theshaft housing 112 while the longitudinal slot 115 can be defined in theopposite lateral side of the shaft housing 112.

Further to the above, the cam actuator 181 can be operably coupled withcrimping actuator 188 such that, when the crimping actuator 188 isadvanced distally by the firing nut 163, the cam actuator 181 can beadvanced distally, as illustrated in FIGS. 8 and 10, until the distalprojection 191 a extending from the distal arm 190 a reaches the distalend 117 of the longitudinal slot 115. In such a distal position, the camactuator 181 may be in a fully advanced position and the clip 140positioned within the receiving chamber 122 can be in a fully deformedor crimped configuration. Thereafter, the cam actuator 181 can beretracted and the end effector 120 can be reopened. More particularly,the drive screw 161 can be rotated in an opposite direction in order tomove the firing nut 163 proximally and retract the cam actuator 181wherein, in certain instances, the end effector 120 can further includea biasing member which can be configured to bias the first jaw 123 andthe second jaw 123 b from the closed, or fired, position illustrated inFIG. 4 into the open, or unfired, position illustrated in FIG. 3. As thefiring nut 163 is retracted from its position illustrated in FIG. 10,the firing pin 184 extending from the firing nut 163 can engage theproximal arm 190 b of the crimping actuator 188 and move the crimpingactuator 188, and the cam actuator 181 extending therefrom, proximallyas illustrated in FIG. 12. Similar to the above, the proximal projection191 b extending from the proximal arm 190 b of the crimping actuator 188can be configured to contact the sidewall of the curved proximal end 116wherein the sidewall can guide the crimping actuator 188 downwardly androtate the crimping actuator 188 about the pivot 189. At such point, thefiring pin 184 may no longer be engaged with the crimping actuator 188,the cam actuator 181 may be fully retracted, and the firing nut 163 maycontinue to be retracted proximally relative to the crimping actuator188.

Further to the above, referring now to FIG. 11, the firing nut 163 canbe configured to re-engage the firing actuator 168 as the firing nut 163is being retracted proximally. As discussed above, the firing actuator168 is rotated downwardly when the firing actuator 168 reaches thedistal end 114 of the longitudinal slot 113 and, as a result, the firingactuator 168 may still be in its downwardly rotated position when thefiring nut 163 is retracted proximally to re-engage the firing actuator168. As illustrated in FIG. 11, the firing pin 172 extending from thefiring nut 163 can engage the proximal arm 170 b of the firing actuator168 and, as the firing nut 163 is further retracted, the firing nut 163can rotate the firing actuator 168 upwardly such that the projections171 a and 171 b extending from the arms 170 a and 170 b, respectively,can re-enter the longitudinal portion of the longitudinal slot 113.Thereafter, the firing nut 163 and can be retracted until the firingactuator 168 and the firing member 165 extending therefrom have beenreturned to their starting, or unfired, positions illustrated in FIG. 5.In such circumstances, the firing member 165 can be withdrawn from theclip cartridge 130 as the firing member 165 is retracted proximally bythe firing nut 163 such that a new clip 140 can be biased into thefiring chamber of the clip cartridge 130 by the biasing member 136. Oncethe firing member 165 and the firing actuator 168 have been retracted totheir starting positions and the next clip 140 has been positionedwithin the firing chamber, the firing drive 160 can be actuated onceagain in order to move the firing nut 163 and the firing member 165distally to advance the next clip 140 into the end effector 120.Likewise, the firing nut 163 can re-actuate the crimping drive 180 asthe firing nut 163 is moved distally once again in order to deform thenext clip 140. Thereafter, the firing nut 163 can retracted in order tore-set the crimping drive 180 and the firing drive 160 once again. Thisprocess can be repeated until a sufficient number of clips 140 have beenapplied to the targeted tissue and/or until the clips 140 containedwithin the clip cartridge 130 have been depleted. In the event thatadditional clips 140 are needed, the expended clip cartridge 130 can beremoved from the shaft 110 and a replacement clip cartridge 130containing additional clips 140 can be inserted into the shaft 110. Insome circumstances, an at least partially depleted clip cartridge 130can be replaced with an identical, or at least nearly identical,replacement clip cartridge 130 while, in other circumstances, the clipcartridge 130 can be replaced with a clip cartridge having more than orless than five clips 140 contained therein and/or a clip cartridgehaving clips other than clips 140 contained therein, for example.

Referring again to FIGS. 6-9, the firing nut 163 of the illustratedembodiment can be configured to become disengaged from the firingactuator 168 at the same time that the firing nut 163 becomes engagedwith the crimping actuator 188. Stated another way, the firing drive 160can be deactivated at the same time that the crimping drive 180 isactivated. In various circumstances, such timing can be achieved whenthe distal end 114 of the longitudinal slot 113 is aligned, or at leastsubstantially aligned, with the proximal end 116 of the secondlongitudinal slot 115, for example. In the illustrated embodiment and/orany other suitable embodiment, a lag can exist between the deactivationof the firing drive 160 and the activation of the crimping drive 180.Such a lag between the end of the firing stroke of the firing member 165and the beginning of the firing stroke of the cam actuator 181 can becreated, in some circumstances, to assure that the clip 140 has beenpositioned in its fully-seated position within the receiving chamber 122before the clip 140 is deformed by the cam actuator 181. In variouscircumstances, such a lag can be created when the distal end 114 of thelongitudinal slot 113 is positioned proximally with respect to theproximal end 116 of the second longitudinal slot 115, for example. Inthe illustrated embodiment and/or any other suitable embodiment, thedeactivation of the firing drive 160 may occur after the activation ofthe crimping drive 180. Such an overlap between the end of the firingstroke of the firing member 165 and the beginning of the firing strokeof the cam actuator 181 can be created, in some circumstances, to applyat least some inward pressure on the clip 140 as it is moved into itsfully-seated position within the receiving chamber 122 so as to reduceor eliminate relative movement between the clip 140 and the sidewalls ofthe receiving chamber 122, for example. In various circumstances, suchan overlap can be created when the distal end 114 of the longitudinalslot 113 is positioned distally with respect to the proximal end 116 ofthe second longitudinal slot 115, for example.

In the illustrated embodiment of FIG. 1 and/or any other suitableembodiment, turning now to FIG. 17, a clip cartridge, such as clipcartridge 230, for example, can comprise a pusher plate 248 positionedintermediate the biasing member 136 and the top-most clip 140 stackedwithin the clip cartridge 230. The pusher plate 248 can be rigid, or atleast substantially rigid, and can comprise a first bearing surfaceagainst which the biasing member 136 can apply a biasing force. Thepusher plate 248 can also comprise a second bearing surface which cantransmit the biasing force to the top surface 145 of the top-most clip140. The pusher plate 248 can be comprised of a sheet of stainless steelmaterial, for example, although the pusher plate 248 can comprise anysuitable shape and can be comprised of any suitable material. In certaininstances, the pusher plate 248 may not be attached to the biasingmember 136 while, in other instances, the pusher plate 248 can beaffixed to the biasing member 136 such that the pusher plate 248 doesnot become dislodged from the cartridge housing 132. In variouscircumstances, the pusher plate 248 can be sized and configured suchthat it cannot pass through the proximal opening 133 and/or the distalopening 137 defined in the cartridge housing 132.

In the illustrated embodiment of FIG. 1 and/or any other suitableembodiment, turning now to FIGS. 18 and 19, a clip cartridge, such asclip cartridge 330, for example, can comprise a lockout member which canbe positioned within the firing chamber 149 of the clip cartridge 330after all of the clips 140 contained within the clip cartridge 330 havebeen ejected from the cartridge 330. The lockout member can comprise alockout plate 348 which can be positioned intermediate the biasingmember 136 and the top surface 145 of the top-most clip 140 containedwithin the clip cartridge 330. In use, further to the above, the clips140 can be sequentially positioned in the firing chamber 149 of the clipcartridge 130 and then advanced distally out of the clip housing 132wherein, after the last clip 140 has been advanced out of the cliphousing 132 and the firing member 165 has been withdrawn from the clipcartridge 130, the biasing member 136 can bias the lockout plate 348against the shelves 135. In such a position, the lockout plate 348 canbe aligned with the proximal opening 133 and the distal opening 137 suchthat the firing member 165 cannot enter, or at least substantiallyenter, the clip cartridge 130. In such circumstances, the lockout plate348 can block the firing member 165 from entering into and passingthrough the housing 132 and, as a result, prevent the inadvertent firingof the clip applier 100 after the clip cartridge 130 has run out ofclips. In the event that the operator of the clip applier 100 were toactuate the firing drive 160 and attempt to advance the firing member165 into the spent clip cartridge 130, the firing member 165 wouldcontact and abut the lockout plate 348 wherein, in such circumstances, acompressive load can be created within the firing member 165. The clipapplier 100 can further include a clutch which can be configured to slipand operably disconnect the motor from the drive screw 161 when thecompressive load created within the firing member 165 exceeds a certainor predetermined amount. In addition to or in lieu of a clutch, themotor and/or motor controller of the clip applier 100 which operates thefiring drive 160, for example, can comprise a load sensor configured todetect the load generated within the firing member 165 and, when theload created within the firing member 165 exceeds a certain orpredetermined amount, the voltage and/or current supplied to the motorcan be switched off and/or reduced. In any event, the lockout plate 348can be sized and configured such that the lockout plate 348 cannot bedislodged through the distal opening 137 and/or the proximal opening 133when the firing member 165 contacts the lockout plate 348. In order touse the clip applier 100 once again, the operator of the clip applier100 can remove the spent cartridge 330 from the shaft 110 and insert anew clip cartridge 330, for example, into the shaft 110. At such point,a clip 140 may be positioned within the firing chamber 149 of the newclip cartridge 330 and the firing member 165 can be advanced distallyinto the new clip cartridge 330 to deploy the clip 140 as describedabove.

In the illustrated embodiment of FIG. 1 and/or any other suitableembodiment, referring now to FIGS. 20 and 21, a clip cartridge, such asclip cartridge 430, for example, can comprise guides which can beconfigured to limit or confine the movement of a lockout member withinthe clip cartridge 430. Similar to the above, the lockout member cancomprise a lockout plate 448, for example, which can be positionedintermediate the biasing member 136 and the top surface 145 of thetop-most clip 140 contained within the housing 432 of the clip cartridge430. In use, similar to the above, the lockout plate 448 can beprogressively pushed downwardly into the firing chamber 149 as the clips140 are sequentially ejected from the clip cartridge 430. The lockoutplate 448 can be sized and configured such that it is closely receivedwithin the cartridge housing 432 and such that relative lateral movementbetween the lockout plate 448 and the housing 432 can be limited inorder to reduce, or prevent, the possibility of the lockout plate 448becoming misaligned within the clip cartridge 430. In the event that thelockout plate 448 were to become misaligned within the clip cartridge430, the lockout plate 448 may bind within the housing 432 and preventthe biasing member 136 from applying an appropriate biasing force to thestack of clips 140, for example. As illustrated in FIGS. 20 and 21, thelockout plate 438 can further comprise guide members 447 extendingtherefrom which can be received within guide slots 446 defined in thecartridge housing 432. The guide members 447 and the guide slots 446 canbe sized and configured such that the guide members 447 are closelyreceived within the guide slots 446 and such that relative lateralmovement between the lockout plate 438 and the cartridge housing 432 canbe limited. Each of the guide slots 446 can be defined by opposingsidewalls 445 which can define a distance therebetween which is equal toor slightly larger than the width of the guide member 447 positionedtherein such that the guide member 447 can slide between the opposingsidewalls 445 between the top 443 and the bottom 444 of the guide slot446. Thus, while the guide members 447 and the guide slots 446 can beconfigured to limit lateral movement therebetween, as outlined above,the guide members 447 and the guide slots 446 can be configured topermit relative movement between the lockout plate 438 and the cartridgehousing 432 along a predetermined path parallel to or collinear with thesupply axis 138, for example. When the lockout plate 438 is pushed intothe firing chamber 149 by the biasing member 136, the lockout plate 438can inhibit the advancement of the firing member 165 and the operationof the clip applier 100, as outlined above, until the spent clipcartridge 430 is replaced with another suitable clip cartridge.

In the illustrated embodiment of FIG. 1 and/or any other suitableembodiment, as discussed above, the drive screw 161 can be rotated in afirst direction to advance the firing nut 163 distally and rotated in asecond, or reverse, direction to retract the firing nut 163 proximally.In order to rotate the drive screw 161 in the first and seconddirections, the electric motor operably coupled with the drive screw 161can be operated in corresponding first and second directions. In theillustrated embodiment of FIG. 1 and/or any other suitable embodiment, aclip applier can utilize a motor which is operated in only a firstdirection wherein the rotation of the motor in such a single directioncan be utilized to advance a firing nut distally and retract the firingnut proximally. Turning now to FIGS. 22-26, the output of an electricmotor can be transmitted to a drive system 560 via a transmission system550. The transmission system 550 can comprise an input shaft 552 whichis operated in a single direction wherein the transmission system 550can be switchable or shiftable between a first state, or configuration,in which the transmission system 550 rotates a drive screw 561 of thedrive system 560 in a first direction and a second state, ofconfiguration, in which the transmission system 550 rotates the drivescrew 561 in a second, or opposite, direction. The first state of thetransmission system 550 is depicted in FIGS. 22-24 and the second stateof the transmission system 550 is depicted in FIGS. 25 and 26.

Referring again to FIGS. 22-24, the input shaft 552 can comprise aninput gear 551 mounted thereto which is operably coupled, or meshinglyengaged, with a shifter gear 553 such that the rotation of the inputshaft 552 is transmitted to the shifter gear 553. With regard to all ofthe gears discussed herein, gears which are operably coupled ormeshingly engaged with one another can comprise any suitable arrangementof teeth, for example, which can transmit the rotation of one gear tothe other. When the input shaft 552 is rotated in the first direction,the shifter gear 553 is rotated in the second, or opposite, direction.In the first state of the transmission system, the shifter gear 553 isin a first position in which the shifter gear 553 is operably coupledwith an intermediate gear 554 wherein, when the shifter gear 553 isrotated in the second direction by the input gear 551, as discussedabove, the intermediate gear 554 is rotated in the first direction.Although not illustrated, the intermediate gear 554 can be rotatablysupported within the shaft 110 of the clip applier 100, for example. Theintermediate gear 554 can also be operably coupled with an output gear555 mounted to the drive screw 561 such that the rotation of theintermediate gear 554 can be transmitted to the output gear 555. Whenthe intermediate gear 554 is driven in the first direction by theshifter gear 553, as described above, the intermediate gear 554 candrive the output gear 555 and the drive screw 561 in the seconddirection. Similar to the above, the firing nut 563 can be operablycoupled with the drive screw 561 and suitably constrained within theshaft 110 such that, when the drive screw 561 is rotated in the seconddirection, the firing nut 563 is advanced distally as indicated by thearrow D.

Similar to the above, the firing nut 563 can be advanced to itsdistal-most position, illustrated in FIG. 24, in order to advance a clip140 from the clip cartridge 130 into the end effector 120 and crimp theclip 140 as described above. As illustrated in FIGS. 23 and 24, thefiring nut 563 can further comprise a cam bar 569 extending therefromwhich can be configured to shift the transmission system 550 from itsfirst state to its second state. Upon comparing FIG. 24 and FIG. 25, thereader will note that the shifter gear 553 is movable between a firstposition in which the transmission system 550 is in its first state anda second position in which the transmission system 550 is in its secondstate. More particularly, the shifter gear 553 is mounted to a shifter556 which is rotatable about the input shaft 552 such that the shiftergear 553 can be rotated from its first position in which the shiftergear 553 is operably engaged with the input gear 551 and theintermediate gear 554 and its second position in which the shifter gear553 is operably disengaged from the intermediate gear 554. Although theshifter gear 553 is operably disengaged from the intermediate gear 554when the shifter gear 553 is in its second position, the shifter gear553 can be operably coupled with the input gear 551 and the output gear555 in order to transmit rotary motion from the input shaft 552 to thedrive screw 561. As illustrated in FIGS. 24 and 25, the shifter 556 cancomprise a central aperture through which the input shaft 552 canextend; however, the shifter 556 may not be operably engaged with theinput shaft 552 and, as a result, the rotation of the input shaft 552may not rotate the shifter 556 and, likewise, the rotation of theshifter 556 may not rotate the input shaft 552. In any event, theshifter 556 can further comprise a cam follower 558 extending therefromwhich can be engaged by a cam 568 defined on the cam bar 569 as thefiring nut 563 is advanced distally. When the cam 568 engages the camfollower 558, the cam 568 can rotate the shifter 556 and the shiftergear 553 between its first position and its second position as describedabove.

When the shifter gear 553 is in its second position and the transmissionsystem 550 is in its second state, as described above, the input shaft552 and the drive screw 561 can both be rotated in the first direction.More particularly, the input shaft 552, when rotated in the firstdirection, can rotate the input gear 551 in the first direction and, asthe shifter gear 553 is directly engaged with the input gear 551, theshifter gear 553 will be rotated in the second direction. The readerwill note that the shifter gear 553 rotates in the second direction whenthe transmission system 550 is in its second state as compared to thefirst, or opposite, direction when the transmission system 550 is in itsfirst state. Upon comparing FIGS. 24 and 25, further to the above, thereader will appreciate that the intermediate gear 554 is no longeroperably positioned intermediate the input gear 551 and the shifter gear553 when the transmission system 550 is in its second state therebyaccounting for the different directions of rotation. As the shifter gear553 is operably engaged with the input gear 551 and the output gear 555when the shifter gear 553 is in its second position, the shifter gear553 can rotate the output gear 555, and the drive screw 561 coupled tothe output gear 555, in the first direction. When the drive screw 561 isrotated in the first direction, as illustrated in FIGS. 25 and 26, thefiring nut 563 can be retracted proximally to permit the end effector120 to be reopened and to retract the firing member 165. Referringprimarily to FIG. 26, the firing nut 563 can further comprise a secondcam bar 567 extending therefrom comprising a cam 566 which can beconfigured to contact the cam follower 558 of the shifter 556 as thefiring nut 563 is retracted proximally into its fully-retractedposition. In such circumstances, the cam 566 can push the shifter 556back into its first position and into operative engagement with theintermediate gear 554 such that the transmission system 550 can be resetinto its first state and the clip applier 100 can be actuated onceagain.

As discussed above, the firing drive of the clip applier 100 can beoperated by a surgical instrument system comprising an electric motor. Arobotic surgical instrument system 20 is illustrated in FIG. 27 and cancomprise a plurality of movable arms 30. Each arm 30 can comprise anactuator module 32 comprising an electric motor configured to supply therotary motion to the shaft 110 of a clip applier 100, and/or any othersuitable surgical instrument. Referring now to FIG. 28, an end effector620 may be selectively engageable with and disengageable from anactuator shaft 610 of a clip applier wherein the end effector 620 cancomprise a proximal end 621 which can be coupled to a distal end 611 ofthe shaft 610. The proximal end 621 of the end effector 620 can comprisean outer housing 629, a frame extending through the outer housing 629,an outer drive shaft extending through the frame, and an inner driveshaft extending through the outer drive shaft. Similarly, the distal end611 of the shaft 610 can comprise an outer housing 619, a frame 663extending through the outer housing 619, an outer drive shaft 662extending through the frame 663, and an inner drive shaft 661 extendingthrough the outer drive shaft 662. With regard to the distal end 611 ofthe shaft 610, the frame 663, the outer drive shaft 662, and the innerdrive shaft 661 can each comprise a portion of a tongue connector 613extending therefrom and a portion of a connector groove 612 definedtherein, wherein the tongue connector 613 can be configured to bereceived within a tongue groove 623 defined in the proximal end 621 ofthe end effector 620, and wherein the tongue groove 612 can beconfigured to receive a tongue connector 622 extending from the proximalend 621 of the end effector 620. Similar to the tongue connector 613which extends across the frame 663, the outer drive shaft 662, and theinner drive shaft 661 of the distal shaft end 611, the tongue connector622 can extend across the frame, the outer drive shaft, and the innerdrive shaft of the proximal end 621 of the end effector 620. Also,similar to the tongue groove 612 which extends across the frame 663, theouter drive shaft 662, and the inner drive shaft 661 of the distal shaftend 611, the tongue groove 623 can extend across the frame, the outerdrive shaft, and the inner drive shaft of the proximal end 621 of theend effector 620. In the configuration depicted in FIG. 28, the tongueconnector 622 of the end effector 620 can be slid laterally into thetongue groove 612 of the shaft 610 at the same time that the tongueconnector 613 of the shaft 610 is slid laterally into the tongue groove623 of the end effector 620. Owing to such assembly, the frame of theend effector 620 can be securely coupled to the frame 663 of the shaft610, the outer drive shaft of the end effector 620 can be operablycoupled to the outer drive shaft 662 of the shaft 110, and the innerdrive shaft of the end effector 620 can be operable coupled to the innerdrive shaft 661 of the shaft 110. The reader will note that the portionsof the tongue connector 612 are aligned with one another, the portionsof the tongue groove 613 are aligned with one another, the portions ofthe tongue groove 622 are aligned with one another, and the portions ofthe tongue connector 623 are aligned with one another when the endeffector 620 is assembled to the shaft 610. Once assembled, the outerdrive shaft 662 of the shaft 110 can rotate the outer drive shaft of theend effector 620, and the inner drive shaft 661 of the shaft 610 canrotate the inner drive shaft of the end effector 620. When the outerdrive shaft 662 and/or the inner drive shaft 661 are rotated, theportions of the tongue connector 612, the portions of the tongue groove613, the portions of the tongue groove 622, and the portions of thetongue connector 623 may no longer be aligned. In order to remove theend effector 620 from the shaft 610, the inner drive shaft 661 and/orthe outer drive shaft 662 can be rotated into one or more positions inwhich the tongue connectors 612 and 623 and the tongue grooves 613 and622 are sufficiently aligned.

Referring again to FIG. 28, the outer housing 619 of the shaft 610 canfurther comprise a stop 614 which can be configured to limit the lateralmovement of the end effector 620 as the end effector 620 is being slidtransversely onto the distal end 611 of the shaft 610. The stop 614 canprovide a datum from which the inner drive shaft of the end effector 620and the inner drive shaft 661 of the shaft 610 are aligned alonglongitudinal axis 615, the outer drive shaft of the end effector 620 andthe other drive shaft 662 of the shaft 610 are aligned alonglongitudinal axis 615, and/or the frame of the end effector 620 and theframe 663 of the shaft 610 are aligned along the longitudinal axis 615.Further to the above, the inner drive shaft 661 can extend into anactuator module 632 which can comprise an electric motor and/or geartrain 664 operably coupled with the inner drive shaft 661 configured torotate the inner drive shaft 661. Furthermore, the actuator module 632can comprise a second electric motor and gear train operably engagedwith the second drive shaft 662 configured to drive the second driveshaft 662. As described in greater detail below, a second electric motorcan be utilized to articulate the end effector 620. Also, further to theabove, the outer housing 619 and/or the frame 663 of the shaft 610 canfurther comprise a gear 617 mounted thereto which is operably engagedwith an electric motor and gear train 618 which can be configured torotate the shaft 610 and the end effector 620 about the longitudinalaxis 615. For instance, if the electric motor and gear train 618 areoperated in a first direction, the shaft 610 and the end effector 620can be rotated about the axis 615 in a clockwise direction while, if theelectric motor and gear train 618 are operated in a second direction,the shaft 610 and the end effector 620 can be rotated about the axis 615in a counter-clockwise direction in order to position and orient the endeffector 620.

As discussed above, the end effector 620 can be selectively attached toand detached from the shaft 610. The reader will note that theprinciples discussed in connection with the end effector 620 and shaft610 can be equally applied to the end effector 120 and the shaft 110 ofthe embodiment disclosed in FIG. 1, among others. That said, referringagain to FIG. 27, one of the robotic arms 30 can be selectively engagedwith an end effector 120 of a clip applier or, alternatively, any othersuitable end effector, such as the end effector of a surgical stapler,for example. In such circumstances, an end effector 120 can beselectively interchanged with another end effector and, as a result, asingle robotic arm 30 can be utilized to perform more than one function.Stated another way, the clip applier 100 can comprise a replaceableloading unit which can be replaced by, or interchanged with, anotherclip applier loading unit and/or any other suitable replaceable loadingunit. Turning now to FIG. 29, the end effector 120 and the shaft 110 ofthe clip applier 100 can be utilized with a surgical instrument systemcomprising a handle 700. The handle 700 can comprise an actuator 701which can be operated, or squeezed toward grip 702, in order to apply arotary motion to the drive screw 161 as described above. In some cases,the rotation of the actuator 701 can be mechanically transmitted to thedrive screw 161 while, in other cases, the actuator 701 can operate amotor operably coupled to the drive screw 161.

Further to the above, the end effector 120 and the shaft 110 of the clipapplier 100 can be aligned along a longitudinal axis of the clip applier100. Turning now to FIG. 30, the end effector 120 and/or the shaft 110can further comprise an articulation joint 101 which can be configuredto permit the end effector 120 to be articulated relative to thelongitudinal axis of the clip applier 100. The shaft 110 can comprise anouter housing, or frame portion, 119 which can comprise a proximal end102 and can comprise a distal portion of the articulation joint 101. Theproximal end 102 can comprise a spherical, or an at least substantiallyspherical, end 102, for example, which can be received within aspherical, or an at least substantially spherical, cavity 104 defined inan articulation joint member 103. The articulation joint member 103 canalso comprise a spherical, or at least substantially spherical, end 105,for example, which can be received within a spherical, or an at leastsubstantially spherical, cavity 107 defined in a shaft frame portion106. The proximal end 102 of the shaft 110 can be at least partiallycaptured within the cavity 104 such that the proximal end 102 cannot bereadily removed from the cavity 104. That said, the proximal end 102 andthe cavity 104 can be sized and configured to permit the proximal end102 to be rotated in any suitable direction within the cavity 104. Asalso illustrated in FIG. 30, the clip applier 100 can further comprisearticulation controls 108 a and 108 b, for example, which can extendthrough the articulation joint 101 and can comprise distal ends mountedwithin mounting apertures 109 a and 109 b, respectively, defined withinthe proximal end 102 of the shaft housing 119. In use, the articulationcontrols 108 a and 108 b can be pushed and/or pulled in order to movethe proximal end 102 within the cavity 104. Further to the above, theend 105 of the articulation joint member 103 can be at least partiallycaptured within the cavity 107 defined in the shaft frame portion 106such that the end 105 cannot be readily removed from the cavity 107.That said, the end 105 and the cavity 107 can be sized and configured topermit the end 105 to be rotated in any suitable direction within thecavity 107 when the shaft end 102 is pushed and/or pulled by theactuators 108 a and 108 b as described above.

Further to the above, referring again to FIG. 30, the drive screw 161can be rotated by an input shaft, such as input shaft 152, for example.The input shaft 152 can extend through an aperture 156 defined withinthe shaft frame portion 106, the articulation joint member 103, and theproximal end 102 of the shaft housing 119. The input shaft 152 cancomprise an input gear 151 mounted to the distal end thereof which canbe operably coupled with an output gear 155 mounted to the proximal endof the drive screw 161. In use, the input shaft 152 can be rotated bythe electric motor, described above, wherein the input shaft 152 canrotate the drive screw 161. As outlined above, the articulation joint101 can be configured to permit the end effector 120 and at least aportion of the shaft 110 to be articulated relative to a longitudinalaxis defined by the clip applier 100. In order to accommodate suchmovement, at least the portion of the input shaft 152 extending throughthe articulation joint 101 can be sufficiently flexible.

Turning now to FIGS. 31-35, the articulation actuators 108 a and 108 bcan be operated by an actuator module such as module 832, for example.Referring primarily to FIG. 31, the actuator module 832 can comprise arotatable articulation driver 833 which can be configured to push andpull the articulation actuators 108 a and 108 b. The articulation driver833 can comprise a cylindrical, or an at least substantiallycylindrical, collar 835 including an aperture 837 which can beconfigured to receive at least a portion of the shaft frame 106 thereinin order to rotatably support the collar 835. The articulation driver833 can further comprise an input gear portion 834 which can be operablycoupled with an electric motor and gear train 831 of the module 832wherein, when the electric motor and gear train 831 are actuated, thearticulation driver 833 can be rotated about the shaft frame 106.Referring primarily to FIGS. 32 and 34, the articulation driver 833 canfurther comprise two cam slots defined in the sidewall of the collaraperture 837, although the reader will note that only one cam slot 835 ais illustrated in the provided views. The cam slot 835 a is configuredto receive a cam follower 838 a extending from the articulation driver108 a wherein the cam follower 838 a is configured to slide within thecam slot 835 a. When the articulation driver 833 is rotated, the helicalcontour of the cam slot 835 a, for example, can be configured to pushthe cam follower 838 a distally or pull the cam follower 838 proximally,depending on the direction in which the articulation driver 833 isrotated. As a result of the proximal or distal movement of the camfollower 838, the cam actuator 108 a can be moved proximally ordistally, respectively. While not illustrated, the articulation driver108 b can comprise a cam follower, similar to the cam follower 838 a,which can be configured to slide within the other cam slot discussedabove. The other cam slot can be configured such that, when thearticulation actuator 108 a is driven distally by the articulationdriver 833 when the articulation driver 833 is rotated in a firstdirection, the articulation actuator 108 b can be pulled proximally.Similarly, the other cam slot can be configured such that, when thearticulation actuator 108 a is pulled proximally by the articulationdriver 833 when the articulation driver 833 is rotated in a seconddirection, the articulation actuator 108 b can be driven distally.Referring primarily to FIG. 32, the shaft frame portion 106 can compriseclearance slots 839 defined therein through which the cam actuators 838can extend. Although the above features have been discussed inconnection with an actuator module 832, such features could be used inconnection with the other actuator modules disclosed herein.

Examples

A clip applier loading unit can comprise a shaft including a distal end,a proximal end, and a frame comprising a frame connector configured tobe releasably attached to a frame of an actuator. The clip applierloading unit can further comprise a plurality of clips and an endeffector extending from the distal end of the shaft, wherein the endeffector comprises a first jaw, a movable second jaw, and a receiverdefined between the first jaw and the second jaw. The receiver isconfigured to receive a clip, wherein the second jaw is movable towardthe first jaw to deform the clip positioned in the receiver. The clipapplier loading unit can further comprise a firing drive comprising adistal portion configured to advance a clip into the receiver and aproximal portion comprising a drive connector configured to bereleasably attached to a driver of the actuator.

A clip applier loading unit can comprise a shaft comprising a distalend, a proximal end, a frame comprising a frame connector configured tobe releasably attachable to and detachable from a frame of an actuatorunit, and a bearing. The clip applier loading unit can further comprisea plurality of clips and an end effector extending from the distal endof the shaft, wherein the end effector comprises a first jaw, a secondjaw movable relative to the first jaw, and a receiver defined betweenthe first jaw and the second jaw, wherein the receiver is configured toreceive a clip. The clip applier loading unit can further comprise areciprocating rotary firing drive comprising a rotatable drivercomprising a thread, wherein the rotatable driver is rotatably supportedby the bearing, and, in addition, a firing nut threadably engaged withthe thread of the rotatable driver, wherein the firing nut isadvanceable toward the distal end when the driver is rotated in a firstdirection, wherein the firing nut is retractable away from the distalend when the driver is rotated in a second direction opposite the firstdirection, and wherein the firing nut is configured to advance a clipinto the receiver when the firing nut is advanced toward the distal end.

A clip applier loading unit comprising a shaft including a distal end, aproximal end, a frame, and connection means for releasably attaching theframe to an actuator. The clip applier can further comprise a pluralityof clips and an end effector extending from the distal end of the shaft,wherein the end effector comprises a first jaw, a movable second jaw,and a receiver defined between the first jaw and the second jaw, whereinthe receiver is configured to receive a clip, and wherein the second jawis movable toward the first jaw to deform a clip positioned in thereceiver. The clip applier loading unit can further comprise firingmeans for advancing a clip into the receiver.

A clip applier for clipping tissue can comprise a shaft including adistal portion, a distal opening defined in the distal portion, and amagazine opening. The clip applier can further comprise a magazineassembly removably positionable in the magazine opening, wherein themagazine assembly comprises a housing, a storage chamber defined in thehousing, a firing platform, a plurality of clips removably positionedwithin the storage chamber, and a biasing member configured to bias theclips toward the firing platform. The clip applier can further comprisea firing drive configured to advance a clip from the magazine throughthe distal opening.

A magazine assembly for use with a clip applier can comprise a housing,a storage chamber defined in the housing, a firing platform, a pluralityof clips removably positioned within the storage chamber, and a biasingmember configured to bias the clips toward the firing platform.

A clip applier surgical instrument can comprise a shaft including adistal portion and a cartridge receptacle, and a cartridge assemblyremovably positionable in the cartridge receptacle. The cartridgeassembly can comprise a housing, a storage chamber defined in thehousing, a discharge opening, a stack of clips removably positionedwithin the storage chamber, wherein the stack of clips comprises aplurality of clips stacked on top of one another, and a biasing memberconfigured to align a clip with the discharge opening. The clip appliersurgical instrument can further comprise a firing drive configured toadvance a clip from the magazine through the discharge opening.

A cartridge assembly for use with a clip applier can comprise a housing,a storage chamber defined in the housing, a discharge opening, a stackof clips removably positioned within the storage chamber, wherein thestack of clips comprises a plurality of clips stacked on top of oneanother, and a biasing member configured to align a clip with thedischarge opening.

A surgical device for applying clips can comprise a shaft including adistal portion, a loading port defined in the distal portion, and adischarge opening. The surgical device can further comprise a clipcartridge removably positionable in the loading port, wherein the clipcartridge comprises a stack of clips, a biasing member configured toalign a clip with the discharge opening, and a firing drive configuredto advance a clip from the clip cartridge through the discharge opening.

A clip cartridge removably for use with a clip applier can bepositionable in a loading port of the clip applier, wherein the clipcartridge can comprise a stack of clips and a biasing member configuredto align a clip with a discharge opening.

A surgical device for applying clips can comprise a shaft, supply meansfor supplying a plurality of clips along a supply axis, and firing meansfor advancing a clip from a pre-fired position to a fired position alonga firing axis, wherein the supply axis is transverse to the firing axis.

A clip applier for clipping tissue comprising a shaft, a firing chamber,an end effector extending from the shaft, wherein the end effectorcomprises a crimping chamber, and a magazine assembly comprising ahousing, a storage chamber defined in the housing, a plurality of clipsremovably positioned within the storage chamber, and a biasing memberconfigured to sequentially bias the clips from the storage chamber intothe firing chamber. The clip applier can further comprise areciprocating firing drive configured to advance a clip positioned inthe firing chamber into the crimping chamber, and a lockout platepositioned intermediate the biasing member and the plurality of clips,wherein the biasing member is configured to bias the lockout plate intothe firing chamber after all of the plurality of the clips have beenadvanced into the crimping chamber, and wherein the lockout plate isconfigured to block the firing drive.

A magazine assembly for use with a clip applier can comprise a housing,a storage chamber defined in the housing, a plurality of clips removablypositioned within the storage chamber, and a biasing member configuredto sequentially bias the clips from the storage chamber into the firingchamber. The magazine assembly can further comprise a lockout platepositioned intermediate the biasing member and the plurality of clips,wherein the biasing member is configured to bias the lockout plate intothe firing chamber after all of the plurality of the clips have beenadvanced from the housing, and wherein the lockout plate is configuredto block a firing drive from entering the firing chamber.

A surgical device for applying clips can comprise a shaft, an endeffector comprising a receiver, and a cartridge comprising a housing, astorage chamber defined in the housing, a stack of clips removablypositioned within the storage chamber, a firing platform, and a biasingmember configured to sequentially bias the clips from the storagechamber onto the firing platform. The surgical device can furthercomprise a reciprocating firing drive configured to advance a clippositioned on the firing platform into the receiver, and a lockoutmember positioned intermediate the biasing member and the stack ofclips, wherein the biasing member is configured to bias the lockoutmember against the firing platform after all of the clips have beenadvanced into the receiver, and wherein the lockout member is configuredto block the firing drive.

A cartridge for use with a clip applier can comprise a housing, astorage chamber defined in the housing, a stack of clips removablypositioned within the storage chamber, a firing platform, and a biasingmember configured to sequentially bias the clips from the storagechamber onto the firing platform. The cartridge can further comprise alockout member positioned intermediate the biasing member and the stackof clips, wherein the biasing member is configured to bias the lockoutmember against the firing platform after all of the clips have beenadvanced out of the housing, and wherein the lockout member isconfigured to block a firing drive from passing through the housing.

A surgical device for clipping tissue can comprise a shaft, an endeffector comprising a receiver, and a cartridge comprising a housing, astorage chamber defined in the housing, a stack of clips removablypositioned within the storage chamber, a firing chamber, and a biasingmember configured to sequentially bias the clips from the storagechamber into the firing chamber. The surgical device can furthercomprise a reciprocating firing drive configured to advance a clippositioned in the firing chamber into the receiver during a firingstroke, and blocking means for inhibiting the firing drive fromcompleting a firing stroke after all of the clips have been advancedinto the receiver.

A cartridge for use with a clip applier can comprise a housing, astorage chamber defined in the housing, a stack of clips removablypositioned within the storage chamber, a firing chamber, and a biasingmember configured to sequentially bias the clips from the storagechamber into the firing chamber. The cartridge can further compriseblocking means for inhibiting a firing drive from completing a firingstroke after all of the clips have been advanced from the housing.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, the device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the steps ofdisassembly of the device, followed by cleaning or replacement ofparticular pieces, and subsequent reassembly. In particular, the devicecan be disassembled, and any number of the particular pieces or parts ofthe device can be selectively replaced or removed in any combination.Upon cleaning and/or replacement of particular parts, the device can bereassembled for subsequent use either at a reconditioning facility, orby a surgical team immediately prior to a surgical procedure. Thoseskilled in the art will appreciate that reconditioning of a device canutilize a variety of techniques for disassembly, cleaning/replacement,and reassembly. Use of such techniques, and the resulting reconditioneddevice, are all within the scope of the present application.

Although the present invention has been described herein in connectionwith certain disclosed exemplary embodiments, many modifications andvariations to those exemplary embodiments may be implemented. Forexample, different types of end effectors may be employed. Also, wherematerials are disclosed for certain components, other materials may beused. The foregoing description and following claims are intended tocover all such modification and variations.

The entire disclosures of U.S. Pat. No. 8,075,571, entitled SURGICALCLIP APPLIER METHODS, which issued on Dec. 13, 2011; U.S. Pat. No.8,038,686, entitled CLIP APPLIER CONFIGURED TO PREVENT CLIP FALLOUT,which issued on Oct. 18, 2011; and U.S. Pat. No. 7,699,860, entitledSURGICAL CLIP, which issued on Apr. 20, 2010, are hereby incorporated byreference herein.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdoes not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A clip applier tool for use with a roboticsurgical system, wherein said clip applier tool comprises: a housingcomprising an interface for attachment to the robotic surgical system,wherein said interface comprises: a first rotatable input; a secondrotatable input; a third rotatable input; and a fourth rotatable input;a shaft extending from said housing, wherein said shaft comprises alongitudinal axis, wherein said shaft is operably coupled to said firstrotatable input, and wherein said shaft is rotatable about saidlongitudinal axis by said first rotatable input; an end effectorextending from said shaft, wherein said end effector comprises acrimping chamber; a firing chamber; a replaceable clip magazine,comprising: a storage chamber; clips removably positioned in saidstorage chamber; and a biasing member configured to sequentially biassaid clips from said storage chamber into said firing chamber; anarticulation joint; an articulation drive configured to articulate saidend effector relative to said shaft about said articulation joint,wherein said articulation joint is operably coupled to said secondrotatable input; and a firing drive configured to advance a clippositioned in said firing chamber toward said crimping chamber, whereinsaid firing drive is operably coupled to said third rotatable input. 2.The clip applier tool of claim 1, wherein said end effector furthercomprises a first jaw and a second jaw, wherein said crimping chamber isdefined between said first jaw and said second jaw, and wherein saidfirst jaw is movable toward said second jaw to deform a clip positionedin said crimping chamber.
 3. The clip applier tool of claim 1, whereinsaid shaft further comprises a proximal portion and a distal portion,wherein said articulation joint rotatably connects said proximal portionand said distal portion of said shaft.
 4. A clip applier tool for usewith a robotic surgical system, wherein said clip applier toolcomprises: a housing comprising an interface for attachment to therobotic surgical system, wherein said interface comprises rotatableinputs; a shaft extending from said housing, wherein said shaft definesa longitudinal axis; an end effector extending from said shaft, whereinsaid end effector comprises a crimping chamber; a firing chamber; areplaceable clip magazine, comprising: a storage chamber; clipsremovably positioned in said storage chamber; and a biasing memberconfigured to sequentially bias said clips from said storage chamberinto said firing chamber; an articulation joint; an articulation driveconfigured to articulate said end effector about said articulationjoint; a rotation drive configured to rotate said shaft about saidlongitudinal axis; and a firing drive configured to advance a clippositioned in said firing chamber into said crimping chamber, whereinsaid articulation drive, said rotation drive, and said firing drive areeach operably coupled to different said rotatable inputs.
 5. The clipapplier tool of claim 4, wherein said end effector further comprises afirst jaw and a second jaw, wherein said crimping chamber is definedbetween said first jaw and said second jaw, and wherein said first jawis movable toward said second jaw to deform a clip positioned in saidcrimping chamber.
 6. The clip applier tool of claim 4, wherein saidshaft comprises a proximal portion and a distal portion, wherein saidarticulation joint rotatably connects said proximal portion and saiddistal portion of said shaft.
 7. A clip applier tool for use with arobotic surgical system, wherein said clip applier tool comprises: ahousing comprising an interface for attachment to the robotic surgicalsystem, wherein said interface comprises: a first rotary input; a secondrotary input; a third rotary input; and a fourth rotary input; a shaftextending from said housing; an end effector extending from said shaft,wherein said end effector comprises clips, wherein said clips areadvanced from a stacked position to a forming position during a clipapplying stroke; a firing drive comprising a firing member configured toconvert rotary motion of said first rotary input to linear motion,wherein said firing member advances said clips from said stackedposition to said forming position during said clip applying stroke as aresult of said linear motion; an articulation joint; and an articulationdrive configured to articulate said end effector about said articulationjoint.
 8. The clip applier tool of claim 7, wherein said end effectorfurther comprises a first jaw and a second jaw, and wherein said firstjaw is movable toward said second jaw to deform a clip positionedtherebetween.
 9. The clip applier tool of claim 7, wherein said shaftcomprises a proximal portion and a distal portion, wherein saidarticulation joint rotatably connects said proximal portion and saiddistal portion of said shaft.